机械科学与技术2012，Vol.31Issue(4)：552-556,5.
一种新型3-U^rSR六自由度并联机构的位置与作业空间分析
Position and Workspace Analysis of a Novel Parallel Mechanism Named 3-U^rSR with Six Freedoms
虞启凯 1游有鹏 2韩江义 3朱剑英2
作者信息
- 1. 京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016／南京化工职业技术学院机械系,南京210048
- 2. 京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016
- 3. 江苏大学汽车与交通工程学院,镇江212013
- 折叠
摘要
Abstract
Position and workspace analysis of mechanism is the basics for study and research of mechanism.In this paper,a novel parallel mechanism named 3-UrSR was proposed.It used 2-DOF spherical five-bar mechanism as the compound drive device.The mechanism freedoms was calculated,and the inverse solution of position of the mechanism was analyzed.Using Matlab software eight groups of inverse solution were determined and its figure was dipicted.At last a numerical simulation example of a mechanism with its workspace arithmetic and figure to verify the feasibility and correctness of the inverse solution.关键词
并联机构/位置反解/空间分析/六自由度Key words
parallel mechanism/position inverse solutions/workspace analysis/six freedoms分类
信息技术与安全科学引用本文复制引用
虞启凯,游有鹏,韩江义,朱剑英..一种新型3-U^rSR六自由度并联机构的位置与作业空间分析[J].机械科学与技术,2012,31(4):552-556,5.
